feat(gemini2): add OrbbecSDK_ROS2/

2025-07-04 15:30:11 +08:00
parent 5cf886315d
commit 1e82e0115a
185 changed files with 864328 additions and 0 deletions
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+#!/usr/bin/bash
+set -e
+CURR_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
+rm -fr debian obj-x86_64-linux-gnu .obj-aarch64-linux-gnu || true
+export DEBIAN_INC=1
+export BUILDING_PACKAGE=1
+bloom-generate rosdebian --os-name ubuntu --ros-distro $ROS_DISTRO -i ${DEBIAN_INC}.$(date +%Y%m%d.%H%M%S)
+export DEB_BUILD_OPTIONS="parallel=$(($(nproc) - 1))"
+fakeroot debian/rules binary
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+cmake_minimum_required(VERSION 3.8)
+project(orbbec_camera_msgs)
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/DeviceInfo.msg"
+  "msg/Extrinsics.msg"
+  "msg/Metadata.msg"
+  "msg/IMUInfo.msg"
+  "msg/RGBD.msg"
+  "srv/GetBool.srv"
+  "srv/GetDeviceInfo.srv"
+  "srv/GetCameraInfo.srv"
+  "srv/GetInt32.srv"
+  "srv/GetString.srv"
+  "srv/SetInt32.srv"
+  "srv/SetString.srv"
+  DEPENDENCIES
+  sensor_msgs
+  std_msgs)
+
+if (BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif ()
+
+ament_package()
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+std_msgs/Header header
+string name
+string serial_number
+string firmware_version
+string supported_min_sdk_version
+string hardware_version
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+std_msgs/Header header
+float64[9] rotation
+float64[3] translation
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+std_msgs/Header header
+float64 noise_density
+float64 random_walk
+float64 reference_temperature
+float64[3] bias
+float64[3] gravity
+float64[9] scale_misalignment
+float64[9] temperature_slope
+
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+std_msgs/Header header
+string json_data
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+# RGBD Message
+std_msgs/Header header
+sensor_msgs/CameraInfo rgb_camera_info
+sensor_msgs/CameraInfo depth_camera_info
+sensor_msgs/Image rgb
+sensor_msgs/Image depth
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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>orbbec_camera_msgs</name>
+  <version>1.2.2</version>
+  <description>A package containing orbbec camera messages definitions.</description>
+  <maintainer email="mocun@orbbec.com">Joe Dong</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
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+---
+bool data
+bool success
+string message
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+---
+sensor_msgs/CameraInfo info
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+---
+DeviceInfo info
+bool success
+string message
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+---
+int32 data
+bool success
+string message
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+---
+string data
+bool success
+string message
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+int32 data
+---
+bool success
+string message
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+string data
+---
+bool success
+string message